Robot head structure

Abstract

The utility model discloses a robot head structure, which belongs to the technical field of robots, and adopts the scheme that the robot head structure comprises a head shell, a bracket in the head shell and a neck connecting piece rotating seat, a storage battery is arranged in the support, a main circuit board is arranged on the front face, an auxiliary circuit board with a key assembly is arranged at the top end, and the main circuit board is electrically connected with a display screen, double microphones, a camera assembly and a loudspeaker on the back face of the support. Arm motors on the two sides of the lower end of the support are in shaft connection with arms, a head motor in the middle is in shaft connection with a driving gear, the driving gear is meshed with an incomplete gear on a hinge shaft of the rotating seat, and mesh holes and a functional groove with a Type-C interface and a reset key are formed in the back face of a head shell. The technical effects that the structure is compact, the head rotates accurately, the actuator can be replaced by the arms, the interactive experience is excellent, and the expansibility is high are achieved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of robot technology, concretely is a kind of robot head structure. BACKGROUND

[0002] With the fusion of AI technology and miniaturization manufacturing process, AI desktop robots are widely used in home desktop, office desktop and other scenes due to their small size and multiple functions, and can realize voice interaction, image recognition, information display and other functions. As the core interaction and action component, the head is limited by the "desktop placement" scene, and the overall volume needs to be strictly controlled, resulting in extremely limited internal installation space. At the same time, it needs to consider multi-functional integration and action flexibility, which puts high requirements on the structure design.

[0003] In the prior art, the AI desktop robot head structure in the "small volume, limited installation space" scene has the following unavoidable defects:

[0004] (1) Low space utilization rate, component layout conflict: the existing AI desktop robot head is not designed with an integrated support suitable for small space, and the battery, circuit board, drive motor and other components are installed separately in the head shell. Each component occupies independent space and is arranged randomly, which is easy to cause component interference (such as motor and circuit board collision, battery pressing wire), not only cannot meet the volume limitation requirement, but also greatly increases the assembly difficulty, and even some functions are forced to be deleted (such as omitting the secondary circuit board or reducing the number of microphones) due to insufficient space;

[0005] (2) Poor space adaptability of head rotating mechanism: the existing head rotation mostly uses complete gear set or connecting rod mechanism. This kind of mechanism occupies a large space, which is difficult to install in limited internal space, and lacks precise angle limiting design. Even if it is assembled reluctantly, it is easy to cause internal wire pull and breakage due to excessive rotation (short wire reservation length in small space, no buffer margin), which directly affects the service life of the robot;

[0006] (3) Arm and hand executor integration contradiction: the existing AI desktop robot head arm is mostly designed as a whole, and the hand executor is fixedly connected with the arm. The overall structure occupies a large radial space (the radial length of the arm plus the executor exceeds 50mm), which exceeds the space limit of the desktop robot head. And the executor cannot be replaced. If different functions such as grabbing and touching are needed, the whole arm assembly needs to be replaced, which not only increases the cost, but also makes the replacement operation difficult due to the limitation of assembly space;

[0007] (4) Insufficient compatibility of interactive components with space: In order to save space, the existing head is usually equipped with only a single microphone, which is installed close to the edge of the head shell, and the voice collection range is narrow (only 60°~90°). In addition, the desktop environment noise (such as keyboard clicking sound, air conditioner noise) interferes, and the voice recognition accuracy is less than 70%. At the same time, in order to avoid occupying space, the loudspeaker is usually directly pasted on the inner wall of the head shell without designing a sound transmission structure. The head shell blocks the sound, resulting in serious sound attenuation and a 40%~50% decrease in playback clarity, which cannot meet the needs of desktop close-range interaction.

[0008] (5) Interface and maintenance structure occupy space, and function is compromised: The existing head is equipped with a traditional USB interface and a reset structure, which requires a separate installation position on the head shell, occupying limited space in the head shell. Moreover, the interface has no protection structure and is easily damaged by objects in the desktop environment. The reset function usually depends on the disassembly of the head shell, and the small-size head shell is difficult to disassemble (with dense buckle structures), which may easily damage the head shell or internal components during maintenance, greatly reducing the user experience.

[0009] The core cause of the above-mentioned defects is that the existing technology does not design adaptive structures for the scene characteristics of AI desktop robot head "small size and limited internal space". Practical new type content

[0010] To solve the above problems, the present application provides a robot head structure which is adapted to the small size and limited internal installation space requirements of AI desktop robots, can integrate multiple interactive functions and precise action mechanisms in a compact space, and is convenient to assemble and maintain, so as to solve the problems of low space utilization rate, poor rotation mechanism adaptability, insufficient arm expansion, poor interactive experience and inconvenient maintenance of the existing AI desktop robot head.

[0011] To achieve the above-mentioned purposes, the technical scheme adopted by the present application is:

[0012] A robot head structure, comprising a head shell, a support installed in the head shell, and a rotating seat for neck connection; a mounting shaft is transversely arranged on the rotating seat and connected with a mounting slot hole at the bottom of the head shell; a fixed gear is arranged on the mounting shaft; an arm motor for driving the rotation of an arm assembly and a head motor connected with a head driving gear are installed at the bottom of the support; a motor shaft of the head motor is connected with the head driving gear, and the head driving gear is engaged with the fixed gear; a storage battery is installed in the support, a main circuit board is installed on the front surface of the support, and a loudspeaker is installed on the back surface of the support; the main circuit board is electrically connected with a display screen, a microphone, a camera assembly and a loudspeaker.

[0013] The beneficial effects of the above technical scheme are: by arranging the support inside the head shell, the orderly installation of the battery and the main circuit board is realized, and the compact and stable layout of each component is ensured; the electrical connection of the main circuit board with the display screen, the microphone, the camera assembly and the speaker meets the display, voice collection, image collection and sound playing functions of the robot head; the rotating seat serves as a neck connecting piece, cooperates with the connection of the mounting shaft and the mounting slot hole at the bottom of the head shell to realize the rotation of the head relative to the neck, and at the same time, the meshing transmission of the head motor, the head driving gear and the fixed gear provides power for the rotation of the head, the connection of the arm motor and the arm shaft realizes the rotary drive of the arm, the overall structure integrates multiple functions, and the reliable connection of each component ensures the multi-dimensional action and function realization of the robot head.

[0014] As a further improvement of the above scheme, the support top end is provided with a secondary circuit board, and a key assembly is arranged on the secondary circuit board; the key assembly is located on the top surface of the head shell.

[0015] The beneficial effects of the above technical scheme are: the added secondary circuit board can facilitate the installation of the key assembly, and also facilitate the circuit design of the Type-C interface and the reset key; the key assembly is located on the top surface of the head shell, which conforms to the operation habit of the user, facilitates the user to quickly find and operate the key, and improves the use experience.

[0016] As a further improvement of the above scheme, a hand interface slot is arranged at the end of the arm.

[0017] The beneficial effects of the above technical scheme are: the hand interface slot arranged at the end of the arm provides an adaptive interface for the installation of the robot hand component, so that the hand can be flexibly assembled according to actual needs, such as replacing hand actuators with different functions (grabbing hands, operating hands, etc.), improving the universality and expansibility of the robot head and arm assembly, and meeting the use requirements in different scenes.

[0018] As a further improvement of the above scheme, the fixed gear is an incomplete gear.

[0019] The beneficial effects of the above technical scheme are: by arranging the fixed gear as an incomplete gear, the transmission angle when the head driving gear meshes with the fixed gear can be limited by controlling the distribution range of the gear teeth, so as to accurately control the rotation angle of the robot head, avoid damage to the connection of internal components caused by excessive rotation of the head, and at the same time, simplify the control logic of the rotation angle of the head, without the need for additional complex limiting mechanisms, thereby reducing the structural complexity and cost.

[0020] As a further improvement of the above scheme, the support is an open box structure, and the battery is adaptively installed in the support.

[0021] The bracket of the open box structure can provide a stable accommodating space for the storage battery, the adaptive installation mode ensures that the storage battery does not shake in the bracket, the stability of the connection between the storage battery and the main circuit board and other components is ensured, and the box structure can protect the storage battery to some extent and reduce the influence of external impact on the storage battery.

[0022] As a further improvement of the above scheme, the main circuit board is located between the display screen and the bracket.

[0023] The beneficial effects of the above technical scheme are that the main circuit board is arranged between the display screen and the bracket, the longitudinal space inside the head shell can be fully utilized, the layout of various components is more compact, the overall volume of the robot head is reduced, the connection line between the main circuit board and the display screen is shortened, signal transmission loss is reduced, and the response speed and stability of the display screen are improved.

[0024] As a further improvement of the above scheme, two microphones are arranged, and are located on the two sides of the display screen on the front of the head shell.

[0025] The beneficial effects of the above technical scheme are that two microphones are arranged on the two sides of the display screen, forming a double-microphone collection layout, which can expand the voice collection range and improve the capture ability of voice signals in different directions compared with a single microphone, and can reduce the interference of environmental noise on voice collection and improve the clarity of voice signals through signal comparison and processing of the two microphones, thereby improving the accuracy of the voice interaction function of the robot.

[0026] As a further improvement of the above scheme, the camera assembly is located on the upper end of the front of the head shell.

[0027] The beneficial effects of the above technical scheme are that the camera assembly is installed on the upper end of the front of the head shell, which can simulate the viewing angle of the human eye, obtain a wider image collection field of view, reduce the collection blind area, facilitate the robot to better perceive the surrounding environment, and improve the effect of image recognition and scene monitoring functions, and the upper end of the front is not easily blocked by other components, ensuring that the camera assembly can stably and efficiently collect images.

[0028] As a further improvement of the above scheme, a mesh hole for speaker sound emission is arranged on the back of the head shell, a functional groove is arranged on the upper end of the back of the head shell, and a Type-C interface and a reset button are arranged in the functional groove.

[0029] The beneficial effects of the above technical scheme are: the mesh holes on the back of the head shell can provide a channel for the loudspeaker to sound, reduce the obstruction of the head shell to sound, improve the propagation effect of the loudspeaker sound, and ensure that the user can clearly hear the voice output of the robot; the Type-C interface and the reset button are integrated in the functional groove, which not only protects the interface and the button from being damaged by external force, but also makes the layout of each functional component regular, the Type-C interface has high-speed data transmission and charging function, and the use convenience of the robot is improved, and the reset button is convenient for quickly restoring the initial state when the robot fails, reducing the difficulty of fault handling.

[0030] As a further improvement of the above scheme, the head shell bottom is provided with a shaft hole for accommodating the rotating seat, and the head shell two sides are provided with holes for installing the arm shaft.

[0031] The beneficial effects of the above technical scheme are: the shaft hole at the bottom of the head shell provides a containing space for the rotating seat, making the connection of the rotating seat and the head shell more compact, reducing the overall space occupation of the robot head, and at the same time protecting the rotating seat; the mounting holes on both sides of the head shell provide precise positioning for the installation of the arm shaft, ensuring the coaxiality of the arm and the arm motor shaft connection, and ensuring the smoothness of the arm rotating action.

[0032] The overall beneficial effects of the present application compared with the prior art are:

[0033] (1) The space utilization rate is greatly improved: through the integrated support of the open box body structure, the components such as the storage battery, the main circuit board, the auxiliary circuit board and the driving motor are regularly arranged to avoid component interference, and full function integration is realized in the limited head volume, the space utilization rate is improved by 40%-50% compared with the existing structure, and any interactive or action function does not need to be deleted;

[0034] (2) The adaptability and safety of the rotating mechanism are optimized: the compact transmission structure of the head driving gear meshing with the incomplete gear is adopted, which perfectly adapts to the limited internal space, and at the same time, the incomplete gear accurately limits the head rotation angle (90°-120°), avoiding wire pulling and breaking in small space, and the service life is prolonged by more than 30% compared with the existing structure;

[0035] (3) Balance of arm expandability and space compatibility: the arm adopts a split design, the end hand interface slot realizes quick replacement of the actuator, and the radial length of the arm body is controlled to be 30mm-35mm, which meets the space limitation of the desktop robot, and the replacement of the actuator does not need to disassemble a large number of components, and the use cost is reduced by 40%-50%;

[0036] (4) Interactive experience adapts to the desktop scene demand: two microphones are symmetrically installed on both sides of the display screen, which expands the voice collection range to 180° without additional space occupation, and cooperates with noise reduction processing to make the voice recognition accuracy rate increase to more than 90%; the net hole is opened on the back of the loudspeaker head shell, which realizes unobstructed sound transmission in a compact space, and the playback clarity is improved by 25%~30%, meeting the desktop close-range interaction demand;

[0037] (5) Interface and maintenance structure space occupation optimization: the functional groove integrates the Type-C interface and the reset button, which only occupies the space of 15mm×25mm on the back of the head shell, saves 60% space compared with the traditional independent installation structure; the Type-C interface improves the charging and data transmission efficiency, the reset button can be triggered without disassembling the head shell, the maintenance time is shortened by 80%, and the functional groove protects the interface, the damage rate is reduced by 60%. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 It is a schematic diagram of the front structure of the robot head.

[0039] Figure 2 It is a schematic diagram of the back structure of the robot head.

[0040] Figure 3 It is a schematic diagram of the front structure inside the robot head.

[0041] Figure 4 It is a schematic diagram of the back structure inside the robot head.

[0042] Figure 5 It is a schematic diagram of the bottom structure inside the robot head.

[0043] Figure 6 It is a schematic diagram of the bottom structure inside the robot head.

[0044] Figure 7 It is a schematic diagram of the internal structure of the robot head shell.

[0045] In the figure: 1, head shell; 2, arm assembly; 13, mesh hole; 101, display screen; 102, microphone; 103, camera assembly; 104, key assembly; 105, functional groove; 106, Type-C interface; 107, reset button; 108, loudspeaker; 109, arm motor; 110, head motor; 111, connecting gear; 112, head driving gear; 113, rotating seat; 114, fixed gear; 115, battery; 116, bracket; 117, main circuit board; 118, auxiliary circuit board; 119, shaft hole; 120, mounting slot hole; 121, mounting shaft; 201, hand interface slot. DETAILED DESCRIPTION

[0046] In order to make the skilled in the art better understand the technical solutions, the utility model will be described in detail below in combination with embodiments, and the description in this part is only exemplary and explanatory, and should not have any limiting effect on the protection scope of the utility model.

[0047] I. Component selection and specifications, such as Figures 1-7 As shown in the figure:

[0048] Head shell 1: ABS engineering plastic injection molding, including front shell and rear shell, combined to form the shape of the head, the front of the head shell 1 is reserved for the display screen 101 installation slot, the size matches the display screen 101, both sides are reserved for the arm group installation hole, the bottom is reserved for the shaft hole 119, the bottom inner wall is symmetrically provided with an installation slot hole 120, the back is provided with a mesh 13, the back upper end is provided with a function slot 105, and the inside of the head shell 1 is reserved for the installation hole for installing the support 116.

[0049] Support 116: made of PP plastic into an open box structure, the front of the box is reserved for the main circuit board 117 installation position fixed through the screw hole, the top is reserved for the auxiliary circuit board 118 installation slot, the lower end is reserved for the arm motor 109 installation position, and the middle part is reserved for the head motor 110 installation position.

[0050] Rotary seat 113: as a neck connecting piece, it is a cylindrical structure, and the two sides are integrally formed with an installation shaft 121, and one end of one of the installation shafts 121 away from the rotary seat 113 is integrally provided with a fixed gear 114.

[0051] Fixed gear 114: incomplete gear, the tooth coverage angle is 90°~120°, used for limiting the rotation angle of the head.

[0052] Head drive gear 112: complete gear, engaged with the fixed gear 114 for transmission.

[0053] Arm motor 109 and head motor 110: used for driving the arm assembly 2 and the head rotation respectively.

[0054] Main circuit board 117: integrated with MCU, power management module, display screen 101 drive module, microphone 102 signal processing module, camera control module and motor drive module, and screw holes are formed at the edge of the board (matching the front screw holes of the support 116).

[0055] Auxiliary circuit board 118: integrated with key detection circuit, and the key assembly 104 is welded on the board and electrically connected with the main circuit board 117 through wires.

[0056] Battery 115: lithium ion battery is selected, the size is matched with the open box body of the support 116, and the battery is connected with the power management module of the main circuit board 117 through wires.

[0057] Display screen 101: Choose OLED display screen 101, through FPC wire and main circuit board 117 display screen 101 drive module connection.

[0058] Microphone 102: Choose electret microphone 102, the number is 2, through the wire and main circuit board 117 microphone 102 signal processing module connection.

[0059] Camera module 103: Choose CMOS camera module, through FPC wire and main circuit board 117 camera control module connection.

[0060] Loudspeaker 108: Choose micro moving coil loudspeaker 108, through the wire and main circuit board 117 audio output module connection.

[0061] Arm assembly 2: The rod structure is made of ABS plastic, one end is provided with shaft hole 119, which is matched with the motor shaft of arm motor 109, and the other end is provided with hand interface slot 201.

[0062] Type-C interface 106: Connected with the secondary circuit board 118; Reset button 107: Choose touch button, connected with the secondary circuit board 118.

[0063] II. Assembly steps and purposes

[0064] Step 1: Core component assembly of support 116

[0065] Battery 115 installation: Put the battery 115 into the open box body of the support 116, make sure that the battery 115 is attached to the inner wall of the box body (adapted installation), and then weld the positive and negative electrodes of the battery 115 with the corresponding pins of the main circuit board 117 power management module through the wire.

[0066] Purpose and function: The open box structure provides stable accommodation space for the battery 115, avoids the shaking of the battery 115, and ensures the stability of power supply; the wire connection realizes the power supply of the battery 115 to the main circuit board 117 and each electrical component, and provides energy foundation for the overall function.

[0067] Main circuit board 117 installation: Attach the main circuit board 117 to the front of the support 116, align the screw holes of the main circuit board 117 with the screw holes on the front of the support 116, then use screws to pass through the screw holes and tighten, and fix the main circuit board 117 on the support 116.

[0068] Purpose and function: Screw fixing method improves the installation firmness of the main circuit board 117, avoids the loosening of the main circuit board 117 caused by the vibration of the robot during running; at the same time, the position of the main circuit board 117 is stable, which provides a reference for the connection between other components and the main circuit board 117.

[0069] Sub-circuit board 118 installation: install the sub-circuit board 118 on the top end of the bracket 116 by screw, then weld the signal pins of the sub-circuit board 118 with the corresponding pins of the integrated MCU of the main circuit board 117 through wires, and ensure that the button assembly 104 is exposed upwards.

[0070] Speaker 108 installation: paste the speaker 108 on the back of the bracket 116 with hot melt adhesive, ensure that the sound emitting surface of the speaker 108 faces outward, then connect the pins of the speaker 108 with the audio output module of the main circuit board 117 through wires.

[0071] Purpose and function: hot melt adhesive fixation ensures the stable position of the speaker 108, and the sound emitting surface facing outward facilitates sound propagation; wire connection realizes the transmission of audio signals from the main circuit board 117 to the speaker 108, so that the speaker 108 can play voice information.

[0072] Drive motor installation: fix the two arm motors 109 on the installation positions on both sides of the lower end of the bracket 116 respectively by screws, fix the head motor 110 on the installation position in the middle of the lower end of the bracket 116 by screw, then connect the power pins and control pins of the two arm motors 109 and the head motor 110 with the corresponding ports of the motor drive module of the main circuit board 117 through wires.

[0073] Purpose and function: screw fixation ensures the accurate and stable position of the drive motor, avoiding displacement during motor operation; wire connection realizes the power supply and speed and direction control of the motor by the main circuit board 117, providing power control basis for the rotation of the arm assembly 2 and the rotation of the head.

[0074] Head drive gear 112 installation: fix the head drive gear 112 on the motor shaft of the head motor 110 by key connection, ensure that the head drive gear 112 is coaxial with the motor shaft and has no looseness.

[0075] Purpose and function: key connection ensures the synchronous rotation of the head drive gear 112 and the motor shaft, avoiding slipping, and ensuring that the power of the head motor 110 can be effectively transmitted to the head drive gear 112.

[0076] Step 2: assembly of rotating seat 113 and bottom of head shell 1

[0077] Rotating seat 113 and head shell 1 hinge: put the rotating seat 113 into the shaft hole 119 at the bottom of the head shell 1, so that the installation shafts 121 on both sides of the rotating seat 113 are respectively embedded into the installation slot holes 120 on the inner wall of the bottom of the head shell 1.

[0078] Purpose and function: the shaft hole 119 accommodates the rotating seat 113, making the structure more compact; the mounting slot hole 120 cooperates with the mounting shaft 121 to realize the installation of the mounting shaft 121, and provides a mechanical basis for the rotation of the head relative to the rotating seat 113 (i.e. the neck).

[0079] Step 3: Assembly of support 116 components and head shell 1

[0080] Put the assembled core components of the support 116 into the head shell 1, adjust the position of the support 116, and make the head drive gear 112 on the head motor 110 fully mesh with the fixed gear 114 on the mounting shaft 121 of the rotating seat 113.

[0081] The main circuit board 117 on the front of the support 116 is aligned with the display screen 101 mounting slot on the front of the head shell 1.

[0082] The key assembly 104 at the top end of the support 116 is aligned with the key hole reserved on the top surface of the head shell 1.

[0083] The speaker 108 on the back of the support 116 is aligned with the mesh 13 on the back of the head shell 1.

[0084] Then connect and fix the support 116 and the inner wall of the head shell 1 with the preset fixing column through screws.

[0085] Purpose and function: the precise meshing of the head drive gear 112 and the fixed gear 114 ensures effective power transmission and provides a transmission basis for the rotation of the head; the main circuit board 117, the key assembly 104, and the speaker 108 are respectively aligned with the corresponding structures of the head shell 1 to ensure that the functions are normal after the subsequent component installation; the screws fix the support 116 and the head shell 1 to avoid displacement of the support 116 in the head shell 1.

[0086] Step 4: Assembly of external functional components

[0087] Display screen 101 installation: embed the display screen 101 into the display screen 101 mounting slot on the front of the head shell 1, ensure that the back of the display screen 101 is attached to the main circuit board 117, and then connect the pins of the display screen 101 to the display screen 101 drive module of the main circuit board 117 through FPC flat cable.

[0088] Purpose and function: the mounting slot positions the display screen 101, and the FPC flat cable connection realizes the driving of the main circuit board 117 to the display screen 101, so that the display screen 101 can display images and text information (such as interactive interface and status prompt).

[0089] Microphone 102 installation: embed two microphones 102 into the reserved mounting holes on both sides of the display screen 101 on the front of the head shell 1, and connect the pins of the microphones 102 to the microphone 102 signal processing module of the main circuit board 117 through wires.

[0090] Purpose and function: the installation of two sides forms a double microphone 102 layout, expanding the voice collection range; wire connection realizes that the microphone 102 converts the voice signal into an electrical signal and transmits it to the main circuit board 117, providing a signal basis for voice interaction function.

[0091] Camera assembly 103 installation: embed the camera assembly 103 into the reserved mounting hole on the front upper end of the head shell 1, ensure that the camera lens faces the outside of the head shell 1, and connect the camera assembly 103 pin with the camera control module of the main circuit board 117 through FPC flat cable.

[0092] Purpose and function: the upper front position simulates the human visual angle, expanding the image collection field of view; FPC flat cable connection realizes the control of the main circuit board 117 to the camera assembly 103, so that the camera assembly 103 can collect the surrounding environment image, providing the basis for image recognition and scene monitoring function.

[0093] Arm assembly 2 installation: the shaft hole 119 end of the two arm assemblies 2 is respectively sleeved on the arm motor 109 motor shaft in the reserved mounting hole on both sides of the head shell 1, and the arm assembly 2 is fixed with the arm motor 109 motor shaft through the tight screw passing through the threaded hole of the side wall of the arm assembly 2 and tightly pressing the motor shaft.

[0094] Purpose and function: tight screw fixation ensures that the arm assembly 2 rotates synchronously with the motor shaft, avoiding slipping; the installation of the two arm assemblies 2 realizes the subsequent rotation action, and the hand interface slot 201 at the end of the arm assembly 2 can be adapted to install different functional hand actuators.

[0095] Type-C interface 106 and reset button 107 installation: embed the Type-C interface 106 into the reserved hole of the functional slot 105 on the back upper end of the head shell 1, and embed the reset button 107 into another reserved hole of the functional slot 105, respectively connect the Type-C interface 106 and the reset button 107 with the corresponding modules of the main circuit board 117 through the wires.

[0096] Purpose and function: the functional slot 105 protects the interface and button from external force collision; the Type-C interface 106 realizes the charging and data transmission function, and the reset button 107 realizes the quick recovery of the initial state when there is a fault, improving the use convenience.

[0097] III. Function implementation process

[0098] Head rotation function implementation:

[0099] When the integrated MCU of the main circuit board 117 receives a head rotation instruction (such as triggered by the user through the key assembly 104 or a voice instruction), the MCU sends a control signal to the motor drive module, and the motor drive module drives the head motor 110 to rotate; the motor shaft of the head motor 110 drives the head drive gear 112 to rotate, the head drive gear 112 is in meshing transmission with the fixed gear 114, and the head is flipped; since the rotating seat 113 is fixed with the mounting shaft 121, and the rotating seat 113 serves as a neck connecting piece and is fixed with the robot body, the head drive gear 112 drives the head shell 1 and the internal support 116 assembly to rotate relative to the mounting shaft 121; when the toothless part of the fixed gear 114 is in contact with the head drive gear 112, the transmission is stopped, and the rotation angle of the head is limited within the angle range covered by the tooth part of the fixed gear 114 (90°~120°).

[0100] Technical effect: The head is stably rotated through gear meshing transmission, and the rotation angle is accurately limited by the incomplete gear, so that component damage is avoided, and the demand for multi-directional posture adjustment of the robot head is met.

[0101] The lower end of the rotating seat 113 can be connected coaxially with the gear 111, the gear 111 is rotated through the motor drive of the body part, so that the rotating seat 113 is rotated, and the head shaking is realized.

[0102] Rotation function of the arm assembly 2 is realized:

[0103] When the integrated MCU of the main circuit board 117 receives a rotation instruction of the arm assembly 2, the MCU sends a control signal to the motor drive module, and the motor drive module drives the arm motor 109 to rotate; the motor shaft of the arm motor 109 drives the arm assembly 2 to rotate synchronously, and the rotation angle can be adjusted by controlling the rotation number of the arm motor 109 (such as 0°~360°); if the hand executor needs to be replaced, the hand executor can be inserted into the hand interface slot 201 at the end of the arm assembly 2, so that quick assembly is realized.

[0104] Technical effect: The motor directly drives the arm assembly 2 to rotate, and the action response is rapid; the hand interface slot 201 realizes flexible replacement of the hand executor, and the functional expansibility is improved.

[0105] Interaction function is realized:

[0106] Display function implementation: when the main circuit board 117 receives a display instruction (such as a system startup prompt, an interactive information display instruction), the MCU sends a display data signal to the display screen 101 drive module; the display screen 101 drive module converts the data signal into a drive signal recognizable by the display screen 101, controls the display screen 101 to light up and display the corresponding content (such as a robot status icon, text interactive information, an image picture); since the display screen 101 is embedded on the front of the head shell 1 and adheres to the main circuit board 117, the signal transmission path is short, which can ensure that the display content is updated in real time without obvious delay.

[0107] Technical effect: the OLED display screen 101 has high contrast and low power consumption characteristics, and cooperates with short path signal transmission to realize clear and real-time information display and provide intuitive interactive feedback for users.

[0108] Voice collection function implementation: when the user issues a voice instruction, the sound signal is received by the two microphones 102 on both sides of the front display screen 101 of the head shell 1; the microphone 102 converts the sound signal into an analog electric signal, which is transmitted to the microphone 102 signal processing module of the main circuit board 117 through a wire; the signal processing module filters, amplifies and denoises the two analog electric signals (uses the signal difference of the double microphones 102 to suppress environmental noise), and then transmits the processed digital signal to the MCU; the MCU performs voice recognition analysis on the digital signal to obtain the user's instruction intention.

[0109] Technical effect: the layout of the double microphones 102 expands the coverage range of voice collection, cooperates with signal noise reduction processing, improves the clarity and recognition accuracy of voice signals in noisy environments, and ensures the reliability of voice interaction function.

[0110] Image collection function implementation: when the MCU receives an image collection instruction (such as an environment monitoring, face recognition instruction), it sends a start and parameter configuration signal (such as resolution, frame rate setting) to the camera control module; the camera control module drives the camera assembly 103 to start, the lens captures the surrounding environment image and converts it into an image electric signal; the image electric signal is transmitted to the main circuit board 117 through the FPC flat cable, and is converted into digital image data by the camera control module and then transmitted to the MCU; the MCU can store and analyze the digital image data (such as face recognition algorithm processing) or output it externally through a subsequent data transmission module.

[0111] Technical effect: the CMOS camera module has small size and low power consumption, which is suitable for the compact structure of the robot head; the front upper installation position combined with a 60°~90° field of view angle realizes a wide image collection range, which meets the needs of environment perception, identity recognition and other scenes.

[0112] Audio playing function implementation: when the main circuit board 117 receives an audio playing instruction (such as a voice response, a prompt tone playing instruction), the MCU sends an audio data signal to the audio output module; the audio output module converts the data signal into an analog audio signal, which is transmitted to the loudspeaker 108 through a wire; the loudspeaker 108 converts the analog audio signal into a sound signal, which is transmitted outward through the mesh hole 13 on the back of the head shell 1, avoiding the obstruction of the head shell 1 to the sound; the aperture and pitch of the mesh hole 13 are designed to ensure that the sound propagation has no obvious attenuation, while preventing external dust from entering the interior of the head shell 1.

[0113] Technical effect: The micro dynamic cone loudspeaker 108 cooperates with the sound transmission structure of the mesh hole 13 to realize clear and unobstructed audio playing, ensuring that the user can accurately receive the voice response or prompt information of the robot and improving the interactive experience.

[0114] Interface and reset function implementation:

[0115] Type-C interface 106 function: when the robot needs to be charged, plug the external charging line into the Type-C interface 106 in the functional slot 105 on the back of the head shell 1, and the Type-C interface 106 transmits the external charging voltage and current signal to the power management module of the main circuit board 117; the power management module stabilizes and limits the charging signal to control the safe charging of the storage battery 115; when data needs to be transmitted (such as updating the robot system or exporting image data), connect the data line to the Type-C interface 106, and the interface transmits the data signal to the data transmission module of the main circuit board 117 through a wire, realizing bidirectional data interaction with external equipment (such as a computer).

[0116] Reset function implementation: when the robot has a system failure (such as a crash or function jam), the user presses the reset button 107 in the functional slot 105, and the button trigger signal is transmitted to the reset pin of the integrated MCU of the main circuit board 117 through a wire; after the MCU receives the reset signal, it starts the system reset program, closes the abnormal running module and restores the initial running state, and the robot recovers normal functions after troubleshooting.

[0117] Technical effect: The Type-C interface 106 integrates charging and data transmission functions, simplifying the external connection method; the reset button 107 provides a quick troubleshooting approach, allowing the system to be restored without disassembling the equipment, improving the convenience and reliability of the equipment.

[0118] It should be noted that in this paper, the terms: including, containing and any other variants are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. The principle and implementation of the present application are described by using specific examples. The above examples are only used to help understand the method and its core idea. The above is only the preferred embodiment of the present application. It should be pointed out that due to the limited expression of the text, there are objectively infinite specific structures. For ordinary technical personnel in this technical field, without departing from the principle of the present application, some improvements, refinements or changes can be made, and the above technical features can be combined in a proper way; these improvements, refinements, changes or combinations, or without improvement, the concept and technical scheme of the present application are directly applied to other occasions, which should be regarded as the protection scope of the present application.

Claims

1. A robot head structure comprising a head housing (1), a carrier (116) mounted in the head housing (1), characterized in that, It also includes a rotating seat (113) for neck connection; The mounting shaft (121) is transversely arranged on the rotating seat (113) and connected with the mounting slot hole (120) at the bottom of the head shell (1); The mounting shaft (121) is provided with a fixed gear (114); The arm motor (109) for rotating the driving arm assembly (2) and the head motor (110) connected with the head driving gear (112) are installed at the bottom of the bracket (116); The motor shaft of the head motor (110) is connected with the head driving gear (112), and the head driving gear (112) is engaged with the fixed gear (114); The bracket (116) is installed with a storage battery (115), the front of the bracket (116) is installed with a main circuit board (117), and the back of the bracket (116) is installed with a loudspeaker (108); The main circuit board (117) is electrically connected with the display screen (101), the microphone (102), the camera assembly (103) and the loudspeaker (108); The display screen is located in front of the main circuit board, and the microphone is located at the side of the display screen; The camera assembly is located above the display screen.

2. The robot head structure according to claim 1, characterized in that, The top end of the bracket (116) is installed with a sub-circuit board (118), and the sub-circuit board (118) is provided with a key assembly (104); The key assembly (104) is located on the top surface of the head shell (1).

3. The robot head structure according to claim 1, characterized in that, The end of the arm assembly (2) is provided with a hand interface slot (201).

4. The robot head structure of claim 1, wherein, The fixed gear (114) is an incomplete gear.

5. The robot head structure of claim 1, wherein, The bracket (116) is an open box structure, and the storage battery (115) is adaptively installed in the bracket (116).

6. The robot head structure of claim 1, wherein, The microphone (102) is provided with two, which are respectively located on both sides of the display screen (101) on the front of the head shell (1).

7. The robot head structure of claim 1, wherein, The back of the head shell (1) is provided with a mesh (13) for the loudspeaker (108) to sound, and the top end of the back of the head shell (1) is provided with a function slot (105), and the function slot (105) is provided with a Type-C interface (106) and a reset key (107).

8. The robot head structure of claim 1, wherein, The bottom of the head shell (1) is provided with a shaft hole (119) for accommodating the rotating seat (113), and the two sides of the head shell (1) are provided with holes for mounting the arm shaft.

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